A guide rail slider processing workstation

Abstract

The utility model provides a guide rail sliding block processing workstation, including manipulator and the distribution of feeding and discharging tray and first machine tool around manipulator, first machine tool is used for processing the side surface of work piece, still include the visual inspection mechanism and positioning platform of distribution in manipulator periphery side, the executive end of manipulator is equipped with clamping mechanism and the mechanism of exchanging position, clamping mechanism has a pair of clamping mouth downward setting's clamping jaw, clamping mechanism passes through a pair of clamping jaw from feeding and discharging tray clamping work piece and with preset angle put into visual inspection mechanism, visual inspection mechanism is used for detecting the orientation of work piece is correct, the mechanism of exchanging position is used for driving a pair of clamping jaw of clamping mechanism to rotate when work piece orientation is reverse exchange position. The utility model automatically identifies and corrects work piece (guide rail sliding block) and places orientation error, avoids the processing scrappage due to orientation error, and realizes lower cost.

Description

Technical Field

[0001] This utility model relates to the field of machining technology, and more specifically, to a guide rail slider machining workstation. Background Technology

[0002] During the machining of guide rail sliders, especially when machining their sides, ensuring the precise placement of the slider on the machine tool is crucial. Typically, the side to be machined must face the machine tool insert. If the opposite side of the slider is turned towards the insert due to improper operation, the entire slider will be scrapped, resulting in wasted materials and costs. To distinguish the sides of the slider to be machined before machining, marking lines are usually set on the opposite side. When placing multiple sliders on a tray for the robot to grip, workers must strictly follow the regulations, ensuring that the marking lines of each slider face the same direction. This allows the robot to accurately place the slider into the machine tool's machining station for side machining based on the correct gripping position. However, in actual production, it is inevitable that some sliders on the tray will have their marking lines incorrectly reversed. If these incorrectly marked sliders are directly processed without being identified and adjusted, they will all become scrap after machine tool processing. Therefore, before the slider is gripped by the robot and sent to the machine tool for machining, these incorrectly marked sliders must be identified and their orientation corrected.

[0003] In addition, the current production process has another significant limitation: whether the slider is placed on a pallet or picked up by a robot and placed into the first machine tool for side processing, the slider is always in a bottom-down state. However, when another machine tool is needed to process the bottom of the slider, the slider is required to be placed in a bottom-up position on that machine tool. This operation of flipping the slider from bottom-down to bottom-up is difficult for existing conventional robots to perform, which further limits the automation level and efficiency of the processing flow, and usually requires additional manual intervention or special flipping equipment. Utility Model Content

[0004] The purpose of this utility model is to overcome at least one defect in the prior art and provide a guide rail slider processing workstation that can automatically identify and correct the incorrect placement orientation of the workpiece (guide rail slider), avoid processing scrap due to incorrect orientation, and achieve low cost.

[0005] To address the aforementioned problems, this utility model provides a guide rail slider processing workstation, including a robotic arm, loading and unloading trays distributed around the robotic arm, and a first machine tool. The first machine tool is used to process the side of the workpiece. It also includes a vision inspection mechanism and a positioning stage distributed around the robotic arm. The robotic arm's execution end is equipped with a gripping mechanism and a position-changing mechanism. The gripping mechanism has a pair of grippers with downward-facing gripping openings. The gripping mechanism uses the pair of grippers to grip the workpiece from the loading and unloading trays and places it into the vision inspection mechanism at a preset angle. The vision inspection mechanism is used to detect whether the workpiece's orientation is correct. The position-changing mechanism is used to drive the pair of grippers of the gripping mechanism to rotate and exchange positions when the workpiece's orientation is reversed. When the vision inspection mechanism detects that the workpiece's orientation is correct, the gripping mechanism transfers the workpiece to the processing station of the first machine tool. When the vision inspection mechanism detects that the workpiece's orientation is reversed, the gripping mechanism transfers the workpiece to the positioning stage. The position-changing mechanism drives the gripping mechanism to rotate 180° and reverses to grip the workpiece located on the positioning stage, and then the gripping mechanism transfers the workpiece to the processing station of the first machine tool.

[0006] Compared with the prior art, the advantages of this utility model are as follows: This utility model automatically identifies whether the orientation of the marking line on the workpiece (guide rail slider) gripped by the clamping mechanism is correct through a vision inspection mechanism. Combined with the use of a position-changing mechanism to drive the clamping mechanism to rotate 180° and the positioning table, it can automatically flip and correct the workpiece with the wrong orientation (i.e., the guide rail slider with the marking line placed in the opposite direction) by 180°. This mechanism effectively avoids the problem of the entire workpiece being scrapped due to incorrect processing by the first machine tool because of the incorrect placement orientation, and significantly reduces material and cost waste. In particular, compared with the solution of relying on an expensive and complex six-axis robot to realize the rotation of the clamping mechanism to correct the orientation, this utility model only needs to configure a relatively simple position-changing mechanism, vision inspection mechanism and positioning table on the basis of a common robot arm to achieve the same automatic correction function, which greatly reduces the overall cost of the equipment and the complexity of implementation.

[0007] Specifically, the position-changing mechanism includes a first servo motor and a swing arm. The first servo motor is fixed to the actuator end of the robot arm, one end of the swing arm is fixed to the output shaft of the first servo motor, and the other end of the swing arm is fixedly connected to the gripping mechanism. The output shaft of the first servo motor is vertically oriented and is used to drive the swing arm to rotate the gripping mechanism 180° around the output shaft of the first servo motor. This structure allows the first servo motor to drive the entire gripping mechanism to rotate precisely 180° around the vertical axis via the swing arm, rather than just driving the gripper itself. This effectively enhances the overall structural strength and rigidity of the gripping mechanism, enabling it to stably grip and flip heavier workpieces, overcoming the problem of weakened structural strength caused by separately setting a rotary cylinder at the end of the gripper.

[0008] As an improvement, a second machine tool and a second servo motor are also included. The second machine tool is positioned around the periphery of the robot arm and is used to process the bottom surface of the workpiece. The second servo motor is located between the first servo motor and the swing arm. The housing of the second servo motor is fixedly mounted at the end of the output shaft of the first servo motor, and the output shaft of the second servo motor is fixedly connected to one end of the swing arm. The output shaft axis of the second servo motor is perpendicular to the output shaft axis of the first servo motor and is used to drive the swing arm to rotate the gripping mechanism 180° around the output shaft axis of the second servo motor. This arrangement allows the second servo motor to drive the gripping mechanism to rotate 180° around a horizontal axis, realizing the automatic flipping of the workpiece from bottom-down (suitable for side processing) to bottom-up (suitable for bottom surface processing). This flipping action and the vertical in-plane orientation correction action achieved by the first servo motor are independent of each other but work together to solve the posture conversion problem required for subsequent bottom surface processing of the workpiece, eliminating the need for additional manual flipping or dedicated flipping equipment, and significantly improving the automation level and efficiency of the processing flow.

[0009] As an improvement, the positioning platform is equipped with at least one positioning seat, which includes a pair of parallel and spaced positioning blocks, with a positioning groove formed between the pair of positioning blocks. When the workpiece is placed sideways in the positioning groove, the pair of positioning blocks abut against the lower part of the top surface and the lower part of the bottom surface of the workpiece, respectively. The structural design of the positioning groove allows the pair of positioning blocks to provide support and restraint from the lower part of the top surface and the lower part of the bottom surface of the workpiece simultaneously when the workpiece is placed with its side (usually the narrower side) facing down. This double-sided abutment method greatly improves the stability of the workpiece placed in the positioning groove, effectively preventing the workpiece (especially long workpieces with a high center of gravity) from tipping over on the positioning platform, and ensuring the reliability and safety of the subsequent flipping operation of the position changing mechanism.

[0010] As an improvement, a buffer rack is also included. The buffer rack is positioned around the robot arm and between the first and second machine tools. The buffer rack has multiple buffer seats for positioning and holding workpieces processed by the first machine tool and awaiting processing by the second machine tool. The buffer rack and its buffer seats serve as an intermediate temporary storage area, receiving and orderly storing workpieces that have undergone side processing by the first machine tool but have not yet entered the second machine tool for bottom processing. This allows the robot arm to temporarily remove workpieces that have completed side processing from the workflow when picking up new workpieces for side processing or performing other tasks, acting as a buffer between processes. This helps to coordinate potential differences in processing cycle time between the first and second machine tools, improving the overall smoothness of the workstation's operation.

[0011] As an improvement, the machining station of the first machine tool is provided with a first fixture, two first centering mechanisms and two first clamping mechanisms. The two first centering mechanisms are movably disposed on both sides of the first fixture along a first direction, and the two first clamping mechanisms are movably disposed on the other two sides of the first fixture along a second direction, the first direction and the second direction being perpendicular to each other. The two first centering mechanisms correspond to the first pair of opposite sides of the workpiece and are used to synchronously push the workpiece inward from the first pair of opposite sides to center and position the workpiece at the top of the first fixture. The two first clamping mechanisms correspond to the second pair of opposite sides of the workpiece and are used to apply clamping force inward from the second pair of opposite sides to fix the workpiece. This fixture structure achieves precise centering (alignment) by simultaneously pushing a pair of opposite sides of the workpiece along a first direction using two first centering mechanisms, ensuring the consistency of the workpiece's position on the machining reference surface. Subsequently, two first clamping mechanisms simultaneously apply clamping force along a second direction perpendicular to them, firmly fixing the other pair of opposite sides of the workpiece. This "center first, clamp later" mechanism, with the clamping force direction perpendicular to the centering direction, effectively guarantees the positioning accuracy and clamping stability of the workpiece during machining, providing a foundation for high-precision side machining.

[0012] As an improvement, the machining station of the second machine tool is provided with a second fixture, two second centering mechanisms, and two second clamping mechanisms. The two second centering mechanisms are movably disposed on both sides of the second fixture along a third direction, and the two second clamping mechanisms are movably disposed on the other two sides of the second fixture along a fourth direction, with the third direction and the fourth direction being perpendicular to each other. The second fixture has the same positioning structure as the first fixture. The structure and arrangement of the two second centering mechanisms are the same as the first centering mechanism, and they are used to synchronously push the workpiece inward from the first opposite side of the workpiece to achieve centering and positioning. The structure and arrangement of the two second clamping mechanisms are the same as the first clamping mechanism, and they are used to apply clamping force inward from the second opposite side of the workpiece to fix the workpiece. After applying this structure, the second machine tool fixture adopts the same "centering + clamping" structure and orthogonal arrangement as the first machine tool fixture, ensuring that the workpiece can also obtain high-precision positioning (achieved through the second centering mechanism) and reliable clamping and fixing (achieved through the second clamping mechanism) when machining the bottom surface. This consistency in design not only simplifies the design and maintenance of the fixture, but more importantly, it ensures the uniformity of the positioning reference of the workpiece in the two processes of side machining and bottom machining, which is conducive to improving the overall machining accuracy of the workpiece.

[0013] As an improvement, a first dust removal air box and a second dust removal air box are also included. The first dust removal air box is located on the positioning platform and within the movement range of the robot arm, and is used for dust removal on the workpiece surface. The second dust removal air box is located at the other end of the swing arm with its air outlet facing the gripping mechanism, and is used for dust removal on the surface of the machine tool processing area. With this structure, the first dust removal air box is directly integrated into the positioning platform, making full use of the spatial position of the positioning platform and the accessibility of the robot arm. This layout allows the position to serve as both a temporary storage point for workpiece orientation correction and a centralized dust removal station: regardless of whether the workpiece needs orientation correction (i.e., whether it is placed on the positioning platform for flipping operation), the robot arm can place or move the workpiece to be processed by the first machine tool to this position for surface dust removal. This design significantly improves the space utilization and functional integration of the workstation, avoids the space required for a separate dust removal station, and ensures that all workpieces entering the first or second machine tool are dust-removed. The second dust removal air box is installed at the end of the swing arm, with its air outlet facing the clamping mechanism (and thus the processing area). Utilizing the mobility of the robot arm, it can effectively blow away chips and coolant residues from the surface of the machine tool processing area (such as the first or second machine tool station), keeping the processing environment clean. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a perspective view of the present utility model;

[0016] Figure 3 This is a schematic diagram of the gripping mechanism and the position-changing mechanism installed on the robotic arm in this utility model.

[0017] Figure 4 This is a schematic diagram of the positioning platform in this utility model;

[0018] Figure 5 This is a schematic diagram of the cache rack structure in this utility model;

[0019] Figure 6 This is a schematic diagram of the structure of the first machine tool in this utility model;

[0020] Figure 7 This is a schematic diagram of the structure of the second machine tool in this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Robotic arm; 11. First dust removal air box; 12. Second dust removal air box; 2. Loading and unloading pallets; 3. First machine tool; 31. First fixture; 32. First centering mechanism; 33. First clamping mechanism; 4. Vision inspection mechanism; 5. Positioning table; 51. Positioning seat; 511. Positioning block; 52. Positioning groove; 6. Clamping mechanism; 7. Position changing mechanism; 71. First servo motor; 72. Swing arm; 73. Second servo motor; 8. Second machine tool; 81. Second fixture; 82. Second centering mechanism; 83. Second clamping mechanism; 9. Buffer rack; 91. Buffer seat. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] like Figure 1 and Figure 2 As shown, a guide rail slider processing workstation includes a robot arm 1, loading / unloading trays 2 and a first machine tool 3 distributed around the robot arm 1. The first machine tool 3 is used to process the side of the workpiece. It also includes a vision inspection mechanism 4 and a positioning stage 5 distributed around the robot arm 1. The execution end of the robot arm 1 is equipped with a gripping mechanism 6 and a position-changing mechanism 7. The gripping mechanism 6 has a pair of grippers with downward-facing gripping openings. The gripping mechanism 6 uses the pair of grippers to grip the workpiece from the loading / unloading trays 2 and place it into the vision inspection mechanism 4 at a preset angle. The vision inspection mechanism 4 is used to detect the orientation of the workpiece. To check if the orientation of the workpiece is correct, the position-changing mechanism 7 is used to drive the pair of grippers of the clamping mechanism 6 to rotate and exchange positions when the workpiece orientation is reversed. When the vision inspection mechanism 4 detects that the workpiece orientation is correct, the clamping mechanism 6 transfers the workpiece to the processing station of the first machine tool 3. When the vision inspection mechanism 4 detects that the workpiece orientation is reversed, the clamping mechanism 6 transfers the workpiece to the positioning table 5. The position-changing mechanism 7 drives the clamping mechanism 6 to rotate 180° and reverse to clamp the workpiece located on the positioning table 5. Then, the clamping mechanism 6 transfers the workpiece to the processing station of the first machine tool 3.

[0025] In this embodiment, the vision inspection mechanism 4 automatically identifies whether the orientation of the marking line on the workpiece (guide rail slider) gripped by the gripping mechanism 6 is correct. Combined with the position-changing mechanism 7 driving the gripping mechanism 6 to rotate 180° and the use of the positioning table 5, the workpiece with the wrong orientation (i.e., the guide rail slider with the marking line placed in the opposite direction) can be automatically flipped 180° to correct the orientation. This mechanism effectively avoids the problem of the first machine tool 3 erroneously processing the workpiece due to the incorrect placement orientation, resulting in the scrapping of the entire workpiece, and significantly reduces material and cost waste. In particular, compared with the solution of relying on an expensive and complex six-axis robot to rotate the gripping mechanism 6 to correct the orientation, this utility model only needs to configure the relatively simple position-changing mechanism 7, vision inspection mechanism 4 and positioning table 5 on the basis of a common robot arm 1 to achieve the same automatic correction function, which greatly reduces the overall cost of the equipment and the complexity of implementation.

[0026] like Figure 3 As shown, the position-changing mechanism 7 includes a first servo motor 71 and a swing arm 72. The first servo motor 71 is fixed to the execution end of the robot arm 1, one end of the swing arm 72 is fixed to the output shaft of the first servo motor 71, and the other end of the swing arm 72 is fixedly connected to the gripping mechanism 6. The output shaft of the first servo motor 71 is vertically oriented and is used to drive the swing arm 72 to rotate the gripping mechanism 6 180° around the output shaft of the first servo motor 71. This structure allows the first servo motor 71 to drive the entire gripping mechanism 6 to rotate precisely 180° around the vertical axis through the swing arm 72, rather than just driving the gripper itself. This effectively enhances the overall structural strength and rigidity of the gripping mechanism 6, enabling it to stably grip and flip heavier workpieces, overcoming the problem of weakened structural strength caused by separately setting a rotary cylinder at the end of the gripper.

[0027] like Figure 2 and Figure 3As shown, the system also includes a second machine tool 8 and a second servo motor 73. The second machine tool 8 is positioned around the robot arm 1 and is used to process the bottom surface of the workpiece. The second servo motor 73 is located between the first servo motor 71 and the swing arm 72. The housing of the second servo motor 73 is fixedly mounted at the end of the output shaft of the first servo motor 71, and the output shaft of the second servo motor 73 is fixedly connected to one end of the swing arm 72. The output shaft axis of the second servo motor 73 is perpendicular to the output shaft axis of the first servo motor 71 and is used to drive the swing arm 72 to rotate the gripping mechanism 6 180° around the output shaft axis of the second servo motor 73. This configuration allows the second servo motor 73 to drive the gripping mechanism 6 to rotate 180° around a horizontal axis, realizing the automatic flipping of the workpiece from bottom-down (suitable for side processing) to bottom-up (suitable for bottom surface processing). This flipping action and the vertical in-plane orientation correction action achieved by the first servo motor 71 are independent of each other but work together to solve the posture conversion problem required for subsequent bottom surface processing of the workpiece, eliminating the need for additional manual flipping or dedicated flipping equipment, and significantly improving the automation and efficiency of the processing flow.

[0028] like Figure 2 and Figure 4 As shown, the positioning table 5 is provided with at least one positioning seat 51, which includes a pair of parallel and spaced positioning blocks 511, with a positioning groove 52 formed between the pair of positioning blocks 511. When the workpiece is placed side down in the positioning groove 52, the pair of positioning blocks 511 abut against the lower part of the top surface and the lower part of the bottom surface of the workpiece, respectively. The structural design of the positioning groove 52 allows the pair of positioning blocks 511 to provide support and limit from the lower part of the top surface and the lower part of the bottom surface of the workpiece when the workpiece is placed with its side (usually the narrower side) facing down. This double-sided abutment method greatly improves the stability of the workpiece placed in the positioning groove 52, effectively preventing the workpiece (especially the long and high center of gravity workpiece) from tipping over on the positioning table 5, and ensuring the reliability and safety of the subsequent flipping operation of the position changing mechanism 7.

[0029] like Figure 2 and Figure 5 As shown, it also includes a buffer rack 9, which is located around the robot arm 1 and between the first machine tool 3 and the second machine tool 8. The buffer rack 9 is equipped with multiple buffer seats 91, which are used to position and place workpieces that have been processed by the first machine tool 3 and are waiting to be processed by the second machine tool 8. The buffer rack 9 and its buffer seats 91 serve as an intermediate temporary storage area. Their function is to receive and orderly store workpieces that have been side-processed by the first machine tool 3 but have not yet entered the second machine tool 8 for bottom-surface processing. This allows the robot arm 1 to temporarily remove workpieces that have completed side processing from the workflow when picking up new workpieces for side processing or performing other tasks, thus playing a buffering role between processes. This helps to coordinate the possible differences in processing cycle time between the first machine tool 3 and the second machine tool 8 and improves the overall smoothness of the workstation's operation.

[0030] like Figure 5 As shown, in order to achieve the integration of the entire workbench and save space, the vision inspection mechanism 4 is usually set on the buffer rack 9 and located on the side of the buffer rack 9 facing the robot arm 1.

[0031] like Figure 6 As shown, the machining station of the first machine tool 3 is provided with a first tooling base 31, two first centering mechanisms 32 and two first clamping mechanisms 33. The two first centering mechanisms 32 are movably disposed on both sides of the first tooling base 31 along a first direction, and the two first clamping mechanisms 33 are movably disposed on the other two sides of the first tooling base 31 along a second direction. The first direction and the second direction are perpendicular to each other. The two first centering mechanisms 32 correspond to the first pair of opposite sides of the workpiece and are used to synchronously push the workpiece inward from the first pair of opposite sides so that the workpiece is centered and positioned at the top of the first tooling base 31. The two first clamping mechanisms 33 correspond to the second pair of opposite sides of the workpiece and are used to apply clamping force inward from the second pair of opposite sides to fix the workpiece. The tooling structure achieves precise centering (alignment) by simultaneously pushing a pair of opposite sides of the workpiece along a first direction using two first centering mechanisms 32, ensuring the consistency of the workpiece's position on the machining reference surface. Subsequently, two first clamping mechanisms 33 simultaneously apply clamping force along a second direction perpendicular to them, firmly fixing the other pair of opposite sides of the workpiece. This "center first, clamp later" mechanism, with the clamping force direction perpendicular to the centering direction, effectively ensures the positioning accuracy and clamping stability of the workpiece during machining, providing a foundation for high-precision side machining.

[0032] like Figure 6 and Figure 7As shown, the machining station of the second machine tool 8 is provided with a second tooling base 81, two second centering mechanisms 82, and two second clamping mechanisms 83. The two second centering mechanisms 82 are movably disposed on both sides of the second tooling base 81 along a third direction, and the two second clamping mechanisms 83 are movably disposed on the other two sides of the second tooling base 81 along a fourth direction, with the third direction perpendicular to the fourth direction. The second tooling base 81 has the same positioning structure as the first tooling base 31. The structure and arrangement of the two second centering mechanisms 82 are the same as those of the first centering mechanism 32, and they are used to synchronously push the workpiece inward from the first opposite side of the workpiece to achieve centering and positioning. The structure and arrangement of the two second clamping mechanisms 83 are the same as those of the first clamping mechanism 33, and they are used to apply clamping force inward from the second opposite side of the workpiece to fix the workpiece. After applying this structure, the second machine tool 8 fixture adopts the same "centering + clamping" structure and orthogonal arrangement as the first machine tool 3 fixture, ensuring that the workpiece can also obtain high-precision positioning (achieved through the second centering mechanism 82) and reliable clamping and fixing (achieved through the second clamping mechanism 83) when machining the bottom surface. This consistency in design not only simplifies the design and maintenance of the fixture, but more importantly, it ensures the uniformity of the positioning reference of the workpiece in the two processes of side machining and bottom machining, which is conducive to improving the overall machining accuracy of the workpiece.

[0033] like Figure 3 and Figure 4 As shown, it also includes a first dust removal air box 11 and a second dust removal air box 12. The first dust removal air box 11 is located on the positioning table 5 and within the movement range of the robot arm 1, and is used for dust removal on the workpiece surface. The second dust removal air box 12 is located at the other end of the swing arm 72 with its air outlet facing the clamping mechanism 6. The second dust removal air box 12 is used for dust removal on the surface of the machine tool processing area. With this structure, the first dust removal air box 11 is directly integrated into the positioning table 5, making full use of the spatial position of the positioning table 5 and the accessibility of the robot arm 1. This layout allows the position to serve as both a temporary storage point for workpiece orientation correction and a centralized dust removal station: regardless of whether the workpiece needs orientation correction (i.e., whether it is placed on the positioning table 5 for flipping operation), the robot arm 1 can place or move the workpiece to be processed by the first machine tool 3 to this position for surface dust removal. This design significantly improves the space utilization and functional integration of the workstation, avoids the space required for setting up a separate dust removal station, and ensures that all workpieces entering the first machine tool 3 or the second machine tool 8 are dust-removed. The second dust removal air box 12 is installed at the end of the swing arm 72, and its air outlet faces the clamping mechanism 6 (and thus the processing area). By utilizing the mobility of the robot arm 1, it can effectively blow away chips and coolant residues on the surface of the machine tool processing area (such as the first machine tool 3 or the second machine tool 8 station), keeping the processing environment clean.

[0034] The operation steps in this embodiment are as follows:

[0035] A. The robotic arm 1 drives the gripping mechanism 6 to grip the workpiece from the loading and unloading tray 2 and place it into the vision inspection mechanism 4 at a preset angle for orientation detection.

[0036] B. If the workpiece is facing correctly: Robot 1 moves the workpiece to the first dust removal air box 11 of the positioning table 5 for surface dust removal; after dust removal, robot 1 transfers the workpiece to the processing station of the first machine tool 3 (top surface of the workpiece facing upwards); on the first machine tool 3, the first centering mechanism 32 pushes the workpiece for centering and positioning, and the first clamping mechanism 33 clamps and fixes the workpiece. After the workpiece is fixed, the first machine tool 3 processes the side of the workpiece; after the first machine tool 3 completes the side processing of the workpiece, robot 1 removes the workpiece from the first machine tool 3 and places it in the buffer seat 91 of the buffer rack 9; then proceed with subsequent operations according to step D.

[0037] C. If the workpiece is facing in the wrong direction: The robot 1 transfers the workpiece to the positioning table 5 and places it flat on the upper surface of the positioning table 5 or the top of the positioning seat 51 with its bottom facing down; the first servo motor 71 of the position-changing mechanism 7 drives the clamping mechanism 6 to rotate 180° around the vertical axis and then clamps the workpiece in the opposite direction. Then the first servo motor 71 of the position-changing mechanism 7 drives the clamping mechanism 6 to rotate 180° in the opposite direction around the vertical axis to make the workpiece facing in the correct direction; when the workpiece is facing in the correct direction, proceed to step B.

[0038] D. When the second machine tool 8 is ready: the robot arm 1 picks up the workpiece from the buffer rack 9 and transfers it to the positioning table 5; the second servo motor 73 of the position changing mechanism 7 drives the clamping mechanism 6 to rotate 90° around the horizontal axis, and then places the workpiece into the positioning slot 52 of the positioning seat 51 with one side facing down; the robot arm 1 drives the clamping mechanism 6 to move from the position located on the top surface of the workpiece to the position located on the bottom surface of the workpiece; the second servo motor 73 of the position changing mechanism 7 drives the clamping mechanism 6 to rotate 180° in the opposite direction around the horizontal axis so that the clamping opening of the clamping mechanism 6 faces the bottom surface of the workpiece, and then the clamping mechanism 6... The newly clamped workpiece is moved to the first dust removal air box 11 of the positioning table 5 for surface dust removal. After dust removal, the robot arm 1 transfers the workpiece to the processing station of the second machine tool 8 (with the bottom surface of the workpiece facing up). On the second machine tool 8, the second centering mechanism 82 centers and positions the workpiece, and the second clamping mechanism 83 clamps and fixes it. Then, the second machine tool 8 processes the bottom surface of the workpiece. After the second machine tool 8 completes the bottom surface processing, if the workpiece still needs to be processed, the robot arm 1 will transfer it to other mechanisms for machining. Otherwise, the robot arm 1 will take out the finished workpiece and place it in the finished product storage area on the loading and unloading tray 2 to complete all operations.

[0039] During the processing: the first dust removal air box 11 removes dust from all workpieces entering the machine tool at the positioning table 5; the second dust removal air box 12 moves with the robot arm 1 and blows away debris from the processing areas of the first machine tool 3 and the second machine tool 8 in real time.

[0040] Although the disclosure is as stated above, the scope of protection of this disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this utility model.

Claims

1. A guide rail slider processing workstation, comprising a robot arm (1) and loading / unloading trays (2) and a first machine tool (3) distributed around the robot arm (1), the first machine tool (3) being used to process the side of a workpiece, characterized in that: It also includes a vision inspection mechanism (4) and a positioning stage (5) distributed around the periphery of the robot (1). The execution end of the robot (1) is provided with a gripping mechanism (6) and a position-changing mechanism (7). The gripping mechanism (6) has a pair of grippers with the gripping opening facing downwards. The gripping mechanism (6) uses the pair of grippers to grip the workpiece from the loading / unloading tray (2) and place it into the vision inspection mechanism (4) at a preset angle. The vision inspection mechanism (4) is used to detect whether the orientation of the workpiece is correct. The position-changing mechanism (7) is used to drive the gripping mechanism (6) when the orientation of the workpiece is reversed. The pair of grippers rotate and exchange positions; when the vision inspection mechanism (4) detects that the workpiece is facing the correct direction, the gripping mechanism (6) transfers the workpiece to the processing station of the first machine tool (3); when the vision inspection mechanism (4) detects that the workpiece is facing the opposite direction, the gripping mechanism (6) transfers the workpiece to the positioning table (5), the position changing mechanism (7) drives the gripping mechanism (6) to rotate 180° and reverse grip the workpiece located on the positioning table (5), and then the gripping mechanism (6) transfers the workpiece to the processing station of the first machine tool (3).

2. The guide rail slider machining workstation according to claim 1, characterized in that: The position-changing mechanism (7) includes a first servo motor (71) and a swing arm (72). The first servo motor (71) is fixed to the execution end of the robot (1). One end of the swing arm (72) is fixed to the output shaft of the first servo motor (71), and the other end of the swing arm (72) is fixedly connected to the gripping mechanism (6). The output shaft axis of the first servo motor (71) is vertically arranged and is used to drive the swing arm (72) to drive the gripping mechanism (6) to rotate 180° around the output shaft axis of the first servo motor (71).

3. The guide rail slider machining workstation according to claim 2, characterized in that: It also includes a second machine tool (8) and a second servo motor (73). The second machine tool (8) is disposed around the periphery of the robot (1) and is used to process the bottom surface of the workpiece. The second servo motor (73) is disposed between the first servo motor (71) and the swing arm (72). The housing of the second servo motor (73) is fixedly disposed at the end of the output shaft of the first servo motor (71). The output shaft of the second servo motor (73) is fixedly connected to one end of the swing arm (72). The output shaft axis of the second servo motor (73) is perpendicular to the output shaft axis of the first servo motor (71) and is used to drive the swing arm (72) to drive the clamping mechanism (6) to rotate 180° around the output shaft axis of the second servo motor (73).

4. The guide rail slider machining workstation according to claim 3, characterized in that: The positioning platform (5) is provided with at least one positioning seat (51), the positioning seat (51) includes a pair of positioning blocks (511) arranged in parallel and spaced apart, and a positioning groove (52) is formed between the pair of positioning blocks (511); when the workpiece is placed with its side facing down in the positioning groove (52), the pair of positioning blocks (511) respectively abut against the lower part of the top surface and the lower part of the bottom surface of the workpiece.

5. The guide rail slider machining workstation according to claim 3, characterized in that: It also includes a buffer rack (9), which is located around the robot (1) and between the first machine tool (3) and the second machine tool (8). The buffer rack (9) is provided with a plurality of buffer seats (91), which are used to position and place the workpiece that has been processed by the first machine tool (3) and is waiting to be processed by the second machine tool (8).

6. The guide rail slider machining workstation according to claim 3, characterized in that: The first machine tool (3) has a first tooling seat (31), two first centering mechanisms (32) and two first clamping mechanisms (33) in its machining station. The two first centering mechanisms (32) are movably disposed on both sides of the first tooling seat (31) along a first direction, and the two first clamping mechanisms (33) are movably disposed on the other two sides of the first tooling seat (31) along a second direction. The first direction and the second direction are perpendicular to each other. The two first centering mechanisms (32) correspond to the first pair of opposite sides of the workpiece and are used to push the workpiece inward synchronously from the first pair of opposite sides so that the workpiece is centered and positioned on the top of the first tooling seat (31). The two first clamping mechanisms (33) correspond to the second pair of opposite sides of the workpiece and are used to apply clamping force inward from the second pair of opposite sides to fix the workpiece.

7. The guide rail slider machining workstation according to claim 6, characterized in that: The machining station of the second machine tool (8) is provided with a second tooling seat (81), two second centering mechanisms (82) and two second clamping mechanisms (83). The two second centering mechanisms (82) are movably disposed on both sides of the second tooling seat (81) along a third direction, and the two second clamping mechanisms (83) are movably disposed on the other two sides of the second tooling seat (81) along a fourth direction. The third direction is perpendicular to the fourth direction. The second tooling seat (81) has the same positioning structure as the first tooling seat (31). The structure and arrangement of the two second centering mechanisms (82) are the same as those of the first centering mechanism (32), and they are used to synchronously push the workpiece inward from the first opposite side of the workpiece to achieve centering and positioning. The structure and arrangement of the two second clamping mechanisms (83) are the same as those of the first clamping mechanism (33), and they are used to apply clamping force inward from the second opposite side of the workpiece to fix the workpiece.

8. The guide rail slider machining workstation according to claim 3, characterized in that: It also includes a first dust removal air box (11) and a second dust removal air box (12). The first dust removal air box (11) is located on the positioning table (5) and within the movement range of the robot (1), and is used for dust removal on the surface of the workpiece. The second dust removal air box (12) is located at the other end of the swing arm (72) and its air outlet faces the clamping mechanism (6). The second dust removal air box (12) is used for dust removal on the surface of the machine tool processing area.

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